本代码是将swissRanger的ToF相机的大部分底层代码封装到类里，提供了opencv和PCL的接口，注意，使用本代码时需要安装PCL和opencv，欢迎自行修改。

We studied the topic of depth sensing camera calibration. Two devices Microsoft Kinect and Swissranger SR-4000, that work on different physical principles, were investigated. Both 3D cameras were described and subjected to experiments in order to ev